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US 11,529,055 B2Granted
Articulable devices for in vivo tissue evaluation
AssigneeBoard of Regents, The University of Texas System
InventorsPanayiotis S. Shiakolas, Shashank Kumat, Samson Abimbola Adejokun
Life of this patent
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Abstract
In one embodiment, a device for in vivo tissue evaluation includes an elongated manipulator including an elongated proximal tube and an articulable distal portion, and a sensor provided at a distal end of the articulable distal portion, the sensor including a sensor head configured to be pressed against tissue and measure a reaction force of the tissue.
Claims8
A device for in vivo tissue evaluation, the device comprising:
- an elongated manipulator including an elongated proximal tube and an articulable distal portion, the articulable distal portion including multiple articulable links that are pivotally connected together, the elongated manipulator further including tendons that pass through the articulable links configured to pivot the links, wherein a pair of tendons is attached to each articulable link with an attachment element that is press-fit into a cavity of the articulable link, wherein the attachment elements are I-beam elements each having a central shaft and opposed end flanges and wherein the tendons wrap around the central shafts;
- and
- a sensor provided at a distal end of the articulable distal portion, the sensor including a sensor head configured to be pressed against tissue and measure a reaction force of the tissue.
Dependencies are inferred from the claim text.